Some toy examples to demonstrate threading in rclpy.
tl;dr: To achieve parallel tasks using rclpy you must use BOTH a MultiThreadedExecutor AND custom Callback Groups!!
The interactive demos require the blessed library, which can be installed via pip.
Using rclpy.spin(node), all of your callbacks (subscriptions, timers, etc) are (by default) handled in a single thread.
If you run ros2 run toy_threads single_thread you will see something like this:
computation 0.97 Hz | --xxxxx---------------xxxxx---------------xxxxx-------------
This a single task (called computation) that aims to run at 1Hz and takes 0.25 seconds to run. The x characters indicate where the thread is active. The actual frequency is also displayed.
However, running ros2 run toy_threads two_competing_tasks shows this:
computation 0.95 Hz | --xxxxx---------------xxxxx---------------xxxxx---------------
publisher 8.05 Hz | -------xx-x-x-x-x-x-x------xx-x-x-x-x-x-x------xx-x-x-x-x-x-x-
We've now added a publisher task that runs at 10Hz and takes 0.01 seconds to run. Without doing anything fancy, the result is still a single thread, and as a result the publisher cannot run while the computation is active.
As a result, the publisher does not reach its desired rate of 10Hz.
Instead of using the standard spin method, we can use a MultiThreadedExecutor like so:
executor = rclpy.executors.MultiThreadedExecutor()
executor.add_node(node)
executor.spin()You can demonstrate this with ros2 run toy_threads multithread
computation 0.92 Hz | --xxxxx---------------xxxxx---------------xxxxx------------
publisher 8.09 Hz | -------xx-x-x-x-x-x-x------xx-x-x-x-x-x-x------xx-x-x-x-x-x
And we get the same result?! That's not what we really wanted.
The problem is that unless you specify otherwise, the callbacks are added to the default callback group which has the type MutuallyExclusiveCallbackGroup. As a result, the callbacks remain mutually exclusive.
If we instead construct all our timers with a new ReentrantCallbackGroup, the callbacks will run concurrently, demonstrated with ros2 run toy_threads multithread_with_reentrant
computation 0.95 Hz | --xxxxx---------------xxxxx---------------xxxxx------------
publisher 9.94 Hz | --x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x
Now the publisher approaches its desired rate of 10Hz.
Instead of having all the callbacks in the same callback group, you can also put them in individual callback groups and then the MultiThreadedExecutor will execute them separately. ros2 run toy_threads multithread_with_mux
computation 0.94 Hz | --xxxxx---------------xxxxx---------------xxxxx-----------
publisher 9.94 Hz | --x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-x-
You can also (if you really want) use a single thread (rclpy.spin) and a ReentrantCallbackGroup, but the result is still only one task executing at a time: ros2 run toy_threads single_thread_with_reentrant.
computation 0.99 Hz | --xxxxx---------------xxxxx---------------xxxxx-----------
publisher 8.07 Hz | -------xx-x-x-x-x-x-x------xx-x-x-x-x-x-x------xx-x-x-x-x-